NOTEIn this version the filters are optimised to provide the best possible flight characteristics. This means that some less agressive filtering is used. In case your setup is too noisy you need to adjust the filters. Here are some of the recommendations. The more filtering you use the less noise will be let into the system, but that will reduce the overall responsitivity of the pid controller and provide less stability in prop wash scenarios for example.

*Changed Airmode Low Throttle Protection. Airmode now gets activated when stick moved above certain threshold. (CLI: set airmode_activate_throttle = ). Note that 3D users have to reconfigure their threshold to something else otherwise airmode would be always enabled.*Sligthly more Authority on low throttle even without Airmode*Added dynamic ki to dynamic PID feature. Iterm is always active at all times, but gets more ignored during fast rotation rates. This enables the possibility for increasing the iterm much more without negative side effects. This also removes the old iterm_reset option* Some code cleanupsNew default PIDs*Added ledstrip visual beeper (CLI: ledstrip_visual_beeper)*yaw_jump_prevention is removed and replaced by yaw D gain! The higher the D the lower the jump_prevention limit will be.*Seperated fast_pwm_protocol from ONESHOT125 feature. The feature in GUI will only be green when ONESHOT125 is actually selected. Normal traditional PWM can be now selected with "set fast_pwm_protocol = OFF"

*Changed Airmode Low Throttle Protection. Airmode now gets activated when stick moved above certain threshold. (CLI: set airmode_activate_throttle = ). Note that 3D users have to reconfigure their threshold to something else otherwise airmode would be always enabled.*Sligthly more Authority on low throttle even without Airmode*Added dynamic ki to dynamic PID feature. Iterm is always active at all times, but gets more ignored during fast rotation rates. This enables the possibility for increasing the iterm much more without negative side effects. This also removes the old iterm_reset option*Some code cleanups*New default PIDs*Added ledstrip visual beeper (CLI: ledstrip_visual_beeper)*yaw_jump_prevention is removed and replaced by yaw D gain! The higher the D the lower the jump_prevention limit will be.*Seperated fast_pwm_protocol from ONESHOT125 feature. The feature in GUI will only be green when ONESHOT125 is actually selected. Normal traditional PWM can be now selected with "set fast_pwm_protocol = OFF"*Fix for beeper during boot. (Not beeping anymore)*Experimental Anti ESC desync option. FC's can be pretty rough when it comes to throttle changes towards the ESC. This option allows you to set the maximum power increment / decrement to the ESC. You can declare the maximum change within 1ms. (CLI: set anti_desync_power_step = )

*Changed Airmode Low Throttle Protection. Airmode now gets activated when stick moved above certain threshold. (CLI: set airmode_activate_throttle = ). Note that 3D users have to reconfigure their threshold to something else otherwise airmode would be always enabled.*Sligthly more Authority on low throttle even without Airmode*Added dynamic ki to dynamic PID feature. Iterm windups now won't increase instability. Iterm is better smoothed in dynamic situations*Some code cleanups*New default PIDs*Added ledstrip visual beeper (CLI: ledstrip_visual_beeper)*yaw_jump_prevention is removed and replaced by yaw D gain! The higher the D the lower the jump_prevention limit will be.*Seperated fast_pwm_protocol from ONESHOT125 feature. The feature in GUI will only be green when ONESHOT125 is actually selected. Normal traditional PWM can be now selected with "set fast_pwm_protocol = OFF"*Fix for beeper during boot. (Not beeping anymore)*On the fly Rc Expo calculations (No more pre computed points)*Experimental Anti ESC desync option. FC's can be pretty rough when it comes to throttle changes towards the ESC. This option allows you to set the maximum power increment / decrement to the ESC. You can declare the maximum change within 1ms. (CLI: set anti_desync_power_step = )*Reworked Super Expo is now by default on as feature SUPEREXPO_RATES. You will like the new smoother stick feel! Check Rate calculator for rates. You still can disable it to get the old style rates. The new rates have smoothed mid stick so I don't recommend using the deadband anymore. Also there are no more super expo factors*Yaw rate is same scaling like roll and pitch. It only has the fixed Rc Rate of 1.00 (100)*SUPEREXPO_RATES and AIRMODE are both features now! When features enabled that means that airmode or superexpo are always enabled. When feature AIRMODE disabled it still can put on a switch. (Use feature command to enable or disable airmode)*Added new Target SINGULARITY (Built in VTX)*Added Rc Rate for Yaw! Will in the future also be added in the configurator. ("set rc_rate_yaw = ")*Added rate limitations to 2000deg/sec. You cannot ever set the rates higher than the gyro can handle.*New rate calculations allows to change everything via Rates and RC Rate. You actually dont even need to use RC Expo, but you still can. Check the rate calculator!

- Fixed PID controller reset from Configurator- Fixed Airmode Feature bug when Motor Stop enabled- Added more Configurable options for the new Betaflight 1.3 Configurator- Changed the default parameters (All accessible in Configurator)- Default Derivative method is changed back to Measurement. To get the 2.8.1 behaviour you can change it back to Error in the new configurator. You can play with this setting to find your preferenced style. Freestyle pilot would prefer more Measurement method and racing pilots might like tigher stick feel with delta on Error. Delta from measurement will feel more smooth and natural, while delta from Error may feel a bit more robotic.- New default filters. These are now all accessible in the configurator- Added new parameter (rc_smooth_interval_ms). Dont use it if you dont know what you are doing. 0 means disabled

New Betaflight PID controller based on deg/sec. All of the future development will all happen in this single pid controller. There is still a Legacy PID controller, which is pretty much evolved rewrite. That one will stay the same.

The new Betaflight 2DOF PID controller has some additional extra parameters for configuring. Check out the config options in the configurator. This PID controller allowes less overshoot percentage and less Derivative needed to get the same affect.

RC2 - Changed defaults / cleanup ONESHOT125 featureRC3 - Defaults based on feedback // yaw_axis added to interpolation // add additional config parameters // FIX PPM on KISSRC4 - Defaults based on new public tests // Fixed some wrong denom defaults for SPI targetsNew 1.7.1 configurator supports some additional tuning parameters. Don't fotget to check tooltips for explainations!The PID from 2.x versions can transfer to 3.0 as the scaling is the same, but you may expect that it should be possible to get higher PID's despite the same PID scaling due to new PID controller functionalities.

New Betaflight PID controller based on deg/sec. All of the future development will all happen in this single pid controller. There is still a Legacy PID controller, which is pretty much evolved rewrite. That one will stay the same.

The new Betaflight 2DOF PID controller has some additional extra parameters for configuring. Check out the config options in the configurator.

Betaflight 3.1.0 (Release Candidate 1)Betaflight firmware has undergone some major changes under the hood. Hardware drivers have been optimised to improve future maintainibility, but also easier target and hardware support. The efficiency of the code has also been improved by a lot as the Betaflight team reviewed each line of the code to squeeze every possible performance win out of it for flight performance purposes. The difference between the current release and previous one is over 1600 code commits by various developers. Only release note highlights are represented. For full change history github commit history can be reviewed.Release note highlights:

Added F7 support (ANYFCF7 as the first supported target)

Dynamic IO / pin allocation

DSHOT support for F3 and F4 (read wiki about board supported hardware)

Full Floating Point Logic for flight behaviour

Many new dynamic configurations (filters, setpoint weights etc.)

Support for KISS esc telemetry (only with DSHOT)

Many code optimisations (faster pid speeds possible on F3 and F4)

Added serial esc pass-through for KISS24 and CASTLE esc's

New target support

Added CMS display support

Added CSRF support for TBS receivers and associated telemetry

Added additional OSD parameters like pids and power

Added unify smartaudio support

Auto Video Format support for OSD

New "anti_gravity_threshold" parameter to improve stability in fast changing G forces during flight. This applies to quick throttle jumps where multirotor can go through weightless transitions. In these cases the iterm can cause unwanted effects like pitching up or yawing due to strong changes in accumulation polarities.

Protection against selecting motor protocols that are too slow (e.g. when ONESHOT125 is selected the maximum allowed pid and motor update frequency will be 2khz)and many more..

Betaflight 3.1.0 (Release Candidate 11)Betaflight firmware has undergone some major changes under the hood. Hardware drivers have been optimised to improve future maintainibility, but also easier target and hardware support. The efficiency of the code has also been improved by a lot as the Betaflight team reviewed each line of the code to squeeze every possible performance win out of it for flight performance purposes. The difference between the current release and previous one is over 1800 code commits by various developers. Only release note highlights are represented. For full change history github commit history can be reviewed.Release note highlights:

New "anti_gravity_threshold" and "anti_gravity_gain" parameter to improve stability in fast changing G forces during flight. This applies to quick throttle jumps where multirotor can go through weightless transitions. In these cases the iterm can cause unwanted effects like pitching up or yawing due to strong changes in accumulation polarities. - @borisbstyle

Protection against selecting motor protocols that are too slow (e.g. when ONESHOT125 is selected the maximum allowed PID and motor update frequency will be 2kHz) - @borisbstyle

Added experimental 32kHz support for gyros that support it - @martinbudden. Usually F4 board will run fine on 32kHz gyro and 16kHz pid loop. 32/32 is slightly too much for CPU. F7 target is now the only one able to run 32kHz/32kHz flawlessly with even accelerometer enabled.To enable 32kHz mode use CLI setting gyro_use_32khz = ON. (Configurator will not display correct speed until the next configurator update, but you will see the real cycletime). NOTE - only flight controllers with MPU6500, MPU9250, and ICM-series (eg ICM20689) gyro support 32kHz mode.

Betaflight firmware has undergone some major changes under the hood. Hardware drivers have been optimised to improve future maintainibility, but also easier target and hardware support. The efficiency of the code has also been improved by a lot as the Betaflight team reviewed each line of the code to squeeze every possible performance win out of it for flight performance purposes. The difference between the current release and previous one is over 1900 code commits by various developers. Only release note highlights are represented. For full change history github commit history can be reviewed.Click here to watch @joshuabardwell overview about 3.1Release note highlights:

New "anti_gravity_threshold" and "anti_gravity_gain" parameter to improve stability in fast changing G forces during flight. This applies to quick throttle jumps where multirotor can go through weightless transitions. In these cases the iterm can cause unwanted effects like pitching up or yawing due to strong changes in accumulation polarities. - @borisbstyle

Protection against selecting motor protocols that are too slow (e.g. when ONESHOT125 is selected the maximum allowed PID and motor update frequency will be 2kHz) - @borisbstyle

Added experimental 32kHz support for gyros that support it - @martinbudden. Usually F4 board will run fine on 32kHz gyro and 16kHz pid loop. 32/32 is slightly too much for CPU. F7 target is now the only one able to run 32kHz/32kHz flawlessly with even accelerometer enabled.To enable 32kHz mode use CLI setting gyro_use_32khz = ON. (Configurator will not display correct speed until the next configurator update, but you will see the real cycletime). NOTE - only flight controllers with MPU6500, MPU9250, and ICM-series (eg ICM20689) gyro support 32kHz mode.